JP7381153B1 - Surface treatment device and surface treatment unit - Google Patents

Abstract

The present invention provides a surface processing unit that more reliably and effectively processes a surface or an object extending from a surface using a moving flying object. SOLUTION: A processing section 10 including a rotating body 14 in contact with a surface part G and a driving section 12 that drives the rotating body 14, and a frame 20 to which the processing section 10 is attached to one end and connected to a flying vehicle 50. When the rotating body 14 is rotated by the drive unit 12 in a state in which it is in contact with the surface portion G, a force F is applied to the processing portion 10 that moves the surface portion G in the first direction D1, and the rotating body 14 is connected to the frame 20. A force component Th in a second direction D2 opposite to the first direction D1 is applied to the processing unit 10 by the flying moving object 50 during flight, and the force component Th in the second direction D2 becomes the second direction D2. A surface processing device that processes a surface G or an object by moving in a second direction D2 with respect to the surface G while rotating the rotary body 14 in a state in which the rotating body 14 is in contact with the surface G or an object with a force F larger than the force F moving in the first direction D1. Unit 100. [Selection diagram] Figure 1

Description

The present invention relates to a surface processing device that processes a surface or an object extending from a surface using a flying moving object, and a surface processing unit equipped with this surface processing device.

As a surface processing unit that processes a surface or an object extending from a surface using a flying vehicle, a cleaning unit that cleans various surfaces with a cleaning device built into the flying vehicle has been proposed (for example, Patent Document (see 1). In the cleaning unit described in Patent Document 1, a brush that rotates horizontally is attached to the lower side of the flying vehicle.

JP2016-209801

However, since the airflow causes fluctuations in the flight of the flying vehicle, when a horizontally rotating brush is attached to the flying vehicle, as in the cleaning unit described in Patent Document 1, the tip of the brush does not touch the surface to be cleaned. There is a risk that proper contact may not be possible. Patent Document 1 proposes a mechanism for extending and contracting the brush shaft and changing the angle of the brush shaft, but it is difficult to absorb fluctuations in the flight of the flying vehicle with this mechanism. Therefore, it is difficult to reliably and effectively clean the surface to be cleaned.

Furthermore, it is desired to reliably and effectively treat a surface to be cleaned using a flying vehicle, not only for cleaning the surface to be cleaned, but also for cutting weeds that have grown from the ground.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve the above-mentioned problems, and to provide a surface processing device that more reliably and effectively processes a surface or an object extending from a surface using a moving flying object, and a method for processing this surface. An object of the present invention is to provide a surface processing unit equipped with a device.

To achieve the above object, one aspect of the present invention includes:
a processing unit including a rotating body that contacts the surface portion or an object extending from the surface portion, and a driving portion that drives the rotating body;
a frame to which the processing unit is attached to one end and connected to a flying vehicle;
Equipped with
When the rotating body is rotated by the drive unit in a first rotation direction while being in contact with the surface portion or the object, a force is applied to the processing portion that moves the surface portion in the first direction, and the rotating body is connected to the frame. A force component in a second direction opposite to the first direction is applied to the processing unit via the frame by the flying moving object in flight,
a force component in the second direction is greater than a force proceeding in the first direction;
The surface processing device processes the surface portion or the object by moving the rotating body in the second direction with respect to the surface portion while rotating in the first rotation direction while being in contact with the surface portion or the object. .

Other aspects of the invention include:
The above surface processing device,
A surface processing unit including a flying moving object.

As described above, this aspect provides a surface processing device that more reliably and effectively processes a surface or an object extending from the surface using a moving flying object, and a surface processing unit equipped with this surface processing device. can do.

FIG. 2 is a side view schematically illustrating processing of a substantially horizontal surface by a surface processing unit including a surface processing unit and a flying moving object according to an embodiment of the present invention. FIG. 2 is a side view taken along arrow AA in FIG. 1; FIG. 3 is a cross-sectional view schematically showing a frame expansion/contraction mechanism, and is a diagram showing a state in which the frame is extended. FIG. 3 is a cross-sectional view schematically showing a frame expansion/contraction mechanism, and is a diagram showing a state in which the frame is contracted. FIG. 3 is an enlarged view of the rotating body shown in FIG. 2, and a side view showing an example in which the rotating body is a rotating brush. FIG. 4B is an enlarged view of the end of the rotating brush in FIG. 4A. FIG. 3 is a perspective view showing an embodiment in which the rotating body is a rotary blade. FIG. 2 is a cross-sectional view showing a processing section including a drive section, a rotating body, and a collar, and a collar with a plurality of diagonally extending grooves formed on the inner surface, showing the processing section rotated in a first rotation direction R1. It is a diagram. FIG. 6 is a diagram illustrating the individual rotating bodies constituting the rotating body expanding outward as the processing unit rotates in the first rotational direction R1. FIG. 2 is a cross-sectional view showing a processing section including a drive section, a rotating body, and a collar, and a collar having a plurality of diagonally extending grooves formed on the inner surface, showing the processing section rotated in a second rotation direction R2. FIG. FIG. 6 is a diagram illustrating the state in which the individual rotary bodies constituting the rotary body return to the inside from the state of expanding outwards due to the rotation of the processing unit in the second rotation direction R2. FIG. 7 is a side view schematically illustrating processing of a substantially vertical surface by a surface processing unit including a surface processing unit and a flying moving object according to another embodiment of the present invention.

Hereinafter, embodiments, embodiments, and examples for carrying out the invention according to the present disclosure will be described with reference to the drawings. The flying vehicle described below is for embodying the technical idea of the invention according to the present disclosure, and unless there is a specific description, the invention according to the present disclosure is not limited to the following. .
In each drawing, members having the same function may be designated by the same reference numerals. In consideration of ease of explanation or understanding of the main points, the present invention may be shown separately into embodiments or examples for convenience, but it is possible to partially replace or combine the configurations shown in different embodiments and examples. In the embodiments and examples to be described later, descriptions of matters common to those described above will be omitted, and only different points will be described. In particular, similar effects due to similar configurations will not be mentioned in each embodiment or example. The sizes, positional relationships, etc. of members shown in each drawing may be exaggerated for clarity of explanation.

In this specification, "left-right direction", "front-back direction", and "up-down direction" respectively mean "left-right direction", "front-back direction", and "up-down direction" of a flying vehicle during horizontal flight.

(Surface processing device and surface processing unit according to one embodiment of the present invention)
First, a surface processing unit including a surface processing unit and a flying moving object according to one embodiment of the present invention will be described with reference to FIGS. 1, 2, 3A, and 3B. FIG. 1 is a side view schematically showing processing of a substantially horizontal surface by a surface processing unit including a surface processing unit and a flying moving object according to an embodiment of the present invention. FIG. 2 is a side view taken along arrow AA in FIG. FIG. 3A is a cross-sectional view schematically showing a frame expansion/contraction mechanism, and is a diagram showing a state in which the frame is extended. FIG. 3B is a cross-sectional view schematically showing the frame expansion/contraction mechanism, and is a diagram showing the frame in a contracted state.

The surface processing device 2 according to the present embodiment includes a processing section 10 that processes the surface G or an object extending from the surface G, and a frame 20 to which the processing section 10 is attached to one end and connected to the flying vehicle 50. . A unit including the surface processing device 2 and the flying moving object 50 is the surface processing unit 100 according to the present embodiment.

(flying vehicle)
As the flying vehicle 50 used in this embodiment, any known flying vehicle such as a drone, a volocopter, a multicopter, etc. can be employed. The flying vehicle 50 illustrated in FIGS. 1 and 2 includes a main body 52 and a plurality of rotary wing units 54 attached to the main body 52. An electric motor provided in the rotor unit 54 is supplied with power from a battery housed in the main body 52, and the rotor rotates. The rotation of the rotor generates a downward propulsive force, which allows the flying vehicle 50 to ascend and fly. 1 and 2 illustrate the case of a so-called quadcopter equipped with four rotary wing units 54.

Legs 56 are attached to the lower side of the main body 52 to support the flying vehicle 50 when the flying vehicle 50 touches the ground. Further, a mounting portion 58 to which the frame 20 of the surface treatment device 2 is attached extends downward from the lower surface of the central region of the main body 52.

(Surface treatment device)
The surface processing device 2 according to the present embodiment includes a processing section 10 that processes the surface G or an object extending from the surface G as described above, and a frame to which the processing section 10 is attached to one end and connected to the flying vehicle 50. 20. The processing section 10 includes a rotating body 14 that contacts the surface section G or an object extending from the surface section G, and a drive section 12 that drives the rotating body 14.

In FIGS. 1 and 2, the rotating body 14 in contact with the surface G etc. is rotated in the rotational direction R1 by the drive unit 12, and is pulled by the flying vehicle 50 attached to the frame 20 and moved in the substantially horizontal direction D2. As the rotation progresses (see the broken line arrow in FIG. 1), the surface portion G and the like are processed by the rotating body 14.

The frame 20 includes a frame main body 22 composed of a first member 22A and a second member 22B. The first member 22A and the second member 22B are attached to each other in a slidable manner as described later.

The first member 22A is mainly formed in the shape of a pipe, and has a flying object connecting section 26 connected to the lower end of the attachment section 58 of the flying vehicle 50 at its upper end. As shown in FIG. 2, the second member 22B has an upper side that is mainly formed in a pipe shape, a lower side that extends on both left and right sides, and a drive section support that supports both ends of the drive section 12 of the processing section 10 at both ends thereof. A section 24 is provided.

The drive section 12 according to the present embodiment is an outer rotor type motor, and the drive section support section 24 of the frame 20 supports a drive fixing section on the center side of the outer rotor type motor and is not in contact with the outer surface of the rotor. I haven't. As will be described later, the hollow rotating body 14 is attached to cover the outer surface of the rotor through the collar 16, and by rotationally driving the outer surface of the rotor, driving force is transmitted to the rotating body 14 through the collar 16. , the rotating body 14 rotates (for example, see FIG. 6).

<Extension mechanism>
As shown in FIGS. 3A and 3B, the inner diameter of the pipe-shaped first member 22A is slightly larger than the outer diameter of the upper portion of the pipe-shaped second member 22B. The upper tip region of the second member 22B is inserted into the inside of the first member 22A. Thereby, the first member 22A and the second member 22B are attached in a slidable manner.

A contact surface 22A1 and a contact surface 22B1 are formed at the distal ends of the first member 22A and the second member 22B, respectively. When the surface treatment device 2 is pulled by the flying vehicle 50, the contact surface 22A1 and the contact surface 22B1 are brought into contact with each other, as shown in FIG. 3A. At this time, the frame 20 (frame main body 22) is in the most extended state. In this state, for example, if the flight altitude of the flying vehicle 50 suddenly decreases, the flying vehicle 50 will approach the processing section 10 . If the frame does not expand or contract, the flying moving object 50 will push back the surface processing device 2, and the way the processing section 10 moves toward the surface G will change, causing a problem in processing. However, in this embodiment, as shown in FIG. 3B, since the frame 20 (frame main body 22) is contracted, a situation in which the surface processing device 2 is pushed back by the flying moving object 50 does not occur. Therefore, it is possible to suppress adverse effects on the processing of the surface portion G and the like by the processing unit 10 due to flight fluctuations of the flying moving object 50.

(Processing method)
A specific example of how the surface portion G is treated by the processing unit 10 is cleaning and polishing of surfaces such as the ground covered with asphalt, concrete, etc., floors and walls of buildings, solar panels, etc. using a rotating brush. A specific example of processing an object extending from the surface portion G is a process of cutting plants such as grass extending from the ground with a rotary blade. A specific example of such processing will be described later.

In order to process the surface G or an object extending from the surface G, in the processing section 10 of the surface processing device 2, the driving section 12 rotates the rotating body 14 in a state in which it is in contact with the surface G or the object extending from the surface G. Rotate in direction R1. In FIG. 1, the rotating body 14 rotates in the first rotation direction R1 while in contact with a substantially horizontal surface (ground) G or an object extending from the surface G. The rotation of the rotating body 14 causes the processing unit to 10 is applied with a force F that moves in a first direction D1, which is rightward in FIG. When viewed from the side of the surface G, the surface G receives a force F from the processing section 10.

On the other hand, the frame 20 of the surface processing device 2 is connected to the flying vehicle 50 through a flying vehicle connecting portion 26 provided at an end opposite to the end to which the processing section 10 is attached. In this state, the flying vehicle 50 flies toward the left in FIG. As a result, the frame 20 is pulled by a force in a direction diagonally toward the upper left side in FIG. This force is transmitted via the frame 20 to the processing section 10 connected by the drive section support section 24 .

The force T that is directed diagonally upward and to the left and is generated by the flying vehicle 50 is composed of a vertical force component Tv and a horizontal force component Th. The horizontal component Th is a force directed in a second direction D2 that is opposite to the first direction D1 in which the rotating body 14 rotates in the rotation direction R1.

Since the weight of the processing unit 10 is greater than the vertical force component Tv, the rotating body 14 rotates in the rotation direction R1 while contacting the surface portion G etc., and continues to apply force F to the surface portion G. On the other hand, the horizontal force component Th directed in the second direction D2 is larger than the force F due to the rotation of the rotating body 14.
In other words, there is a relationship of Th>F.

As a result, the rotating body 14 rotates in the rotational direction R1 while being in contact with the surface G, and advances in the second direction D2 with respect to the surface G to process the surface G. That is, while rotating, the rotating body 14 moves in a second direction opposite to the first direction D1 in which it moves due to rotation. The relative speed of the outer circumferential portion of the rotating body 14 in contact with the surface G with respect to the surface G is increased because, in addition to the speed due to the rotation of the rotating body 14 by the drive unit 12, the speed of horizontal movement by being pulled by the flying vehicle 50 is added. The same effect as when processing is performed by rotating the rotating body 14 at high speed can be obtained. If the rotating body 14 is a rotating brush, a brushing effect and a polishing effect can be obtained by rotating the rotating body (rotating brush) 14 at a higher speed.

A similar effect can be obtained even when processing an object extending from the surface. If the rotating body 14 is a rotary blade, the rotating body (rotary blade) 14 can be rotated at a higher speed to enhance the cutting effect on objects such as grass.

As described above, the surface processing device 2 according to the present embodiment includes a processing section 10 including a rotating body 14 that contacts the surface G or an object extending from the surface G, and a driving section 12 that drives the rotating body 14. A frame 20 is provided with a processing unit 10 attached to one end and connected to a flying vehicle 50, and when the rotating body 14 is rotated in the first rotation direction R1 by the driving unit 12 in a state in contact with the surface G or an object. , a force F is applied to the processing unit 10 that moves in the first direction D1 with respect to the surface G, and the flying moving object 50 connected to the frame 20 causes the processing unit 10 to move in the first direction D1 via the frame 20. A force component Th in a second direction D2 opposite to the direction D1 is applied, and the force component Th in the second direction D2 is greater than the force F proceeding in the first direction D1, and the rotating body 14 is in contact with the surface G or the object. While rotating in the first direction of rotation R1, it advances in the second direction D2 with respect to the surface G to process the surface G or the object.

Further, the surface treatment device unit 100 according to the present embodiment is a unit that includes the surface treatment device 2 and the flying vehicle 50.

According to this embodiment, a surface processing device 2 that more reliably and effectively processes a surface portion G or an object extending from the surface portion G using a mobile flying object 50, and a surface processing unit 100 equipped with this surface processing device 2. can be provided.

Note that the surface to be processed by the surface processing device 2 and the surface processing device unit 100 is not only a substantially horizontal surface like the surface G shown in the figure, but also an inclined surface or a substantially vertical surface as described later. could be. Moreover, it includes not only a flat surface like the illustrated surface portion G, but also a curved surface, and may also be a surface that changes irregularly.

As described above, while the flying vehicle 50 is flying in a generally horizontal direction and pulling the processing unit 10, the flight altitude etc. change due to changes in airflow. When the flight altitude increases, the speed at which the surface treatment device 2 is pulled may increase a little, and the surface treatment device 2 may move a little faster in the second direction D2. In this case, the effect of the processing by the processing unit 10 increases somewhat.

On the other hand, when the flight altitude of the flying vehicle 50 decreases, the flying vehicle 50 moves in a direction closer to the processing unit 10 . At this time, if the frame 20 does not have a telescoping function, there is a risk of applying a force to the surface processing device 2 that pushes the processing section 10 back in the first direction D1. In this case, there is a possibility that the processing by the processing unit 10 will be adversely affected.

Therefore, as described above, in the surface processing device 2 according to the present embodiment, the frame 20 has an expansion and contraction mechanism, and when the processing section 10 is pulled by the flying vehicle 50 via the frame 20, When the moving body 50 moves in a direction approaching the processing section 10, the frame 20 is configured to contract.

Although the flight altitude of the flying vehicle 50 fluctuates due to changes in airflow, even if the altitude of the flying vehicle 50 decreases, the frame 20 contracts and pushes the processing unit 10 back in the first direction D1. can be prevented. Such a buffering function due to the expansion and contraction of the frame 20 allows the processing unit 10 to continue effective processing.
In addition, in the expansion/contraction mechanism of the frame 20, a buffering function member such as a damper may be further provided to allow the frame 20 to expand/contract more smoothly.

(rotating brush)
Next, an embodiment in which the rotating body 14 is a rotating brush will be described with reference to FIGS. 4A and 4B. FIG. 4A is an enlarged view of the rotating body shown in FIG. 2, and is a side view showing an example in which the rotating body is a rotating brush. FIG. 4B is an enlarged view of the end of the rotating brush in FIG. 4A.

The rotating body according to this embodiment is a rotating brush 14B having a cylindrical outer shape, and wheels 18 are attached to both sides of the rotating brush 14B in the rotation axis direction. In FIG. 4A, the hole 18 on the left shows a cross section, and the wheel 18 on the right shows an external surface. FIG. 5B shows the wheel 18 and the rotating brush 14B in the vicinity thereof in a cross-sectional state on the left side.

As is clear from FIG. 4B, the wheel 18 is a freewheel that is not connected to the drive section 12, and when processing is performed in the processing section 10, the wheels 18 on both sides of the rotating brush 14B are in contact with the surface section G. It is designed to roll on surface portion G. That is, wheels 18 that are not connected to the drive unit 12 that roll on the surface G are attached to both sides of the rotating brush 14B in the direction of the rotation axis.

The wheel 18 rolling on the surface G stabilizes the moving direction of the processing section 10, which is pulled by the flying vehicle 50. In particular, since the wheel 18 is a freewheel, it is possible to stably guide the processing section 10 in the traveling direction regardless of the rotation of the rotating brush 14B.

Furthermore, assuming that the outer diameter of the freewheel is Dw and the outer diameter of the rotating brush 14B is Db, the outer diameter Dw of the wheel is smaller than the outer diameter Db of the rotating brush 14B. In other words, there is a relationship of Dw < Db. An example is a case where the outer diameter Dw of the wheel is smaller than the outer diameter Db of the rotating brush 14B by about 2 to 10 mm.

As shown in FIG. 4B, since the brush part 14B1 of the rotating brush 14B has elasticity, it is bent by the weight of the processing part 10, and the rigid wheel 18 comes into contact with the surface part G. As described above, since the outer diameter Dw of the wheel 18 is smaller than the outer diameter Db of the rotating brush 14B, the brush portion 14B1 of the rotating brush 14B having elasticity is bent, and the tip of the brush portion 14B1 is brought into contact with the surface portion G. It hits hard and allows efficient cleaning, polishing, and other treatments.

(rotary blade)
Next, an embodiment in which the rotating body 14 is a rotating blade will be described with reference to FIG. FIG. 5 is a perspective view showing an embodiment in which the rotating body is a rotary blade.

In the embodiment shown in FIG. 5, a rotary blade 14C, which is a rotating body, is covered with a cover wheel 18C shown by a dotted line. The cover wheel 18C, like the wheel 18 described above, is a freewheel that is not connected to the drive unit 12 and is configured to roll on the surface G. The cover wheel 18C has an opening 18C1. That is, a portion of the rotary blade 18C is covered by the cover wheel 18C. The rotary blade 14C exposed from the opening 18C1 can cut objects extending from the surface G, such as weeds.

As described above, this embodiment includes a cover wheel 18C that covers a part of the rotary blade 14C, rolls on the surface G, and is not connected to the drive unit 12. With the cover wheel 18C rolling on the surface G, it is possible to stabilize the moving direction of the processing section 10 that is pulled by the flying vehicle 50. At the same time, it is also possible to improve safety by covering an area that is not involved in the processing of the rotary blade 14C.

(Movement of driving force transmission member)
When the rotating brush 14B or the rotating blade 14C is used as the rotating body 14, there is a possibility that the rotation of the rotating body 14 may be restricted due to interference with the surface portion G or an object extending from the surface portion G. For example, depending on the shape and properties of the surface portion G, the frictional force between the tip of the brush portion 14B1 of the rotating brush 14B and the surface portion G may increase, and the rotation of the rotating brush 14B may be restricted. Further, for example, there is a possibility that the rotary blade 14C may become entangled with plants extending from the surface portion G, and the rotation of the rotary blade 14C may be restricted.

If driving force is continued to be transmitted from the drive unit 12 to the rotating body 14 in such a state, there is a risk that the transmission torque of the drive unit 12 will become excessive and the drive unit 12, which is an electric motor, may trip. There is also a possibility that the rotating body 14 may be damaged. Furthermore, if there is a driving force transmitting member that transmits the driving force from the drive unit 12 to the rotating body 14, there is a risk that the driving force transmitting member may be damaged.

Next, referring to FIGS. 6 to 9, one of the mechanisms for dealing with the above problem, in which the driving force transmitting member moves to weaken the driving force transmitted from the drive unit 12 to the rotary body 14, will be described. Embodiments will be described in detail. FIG. 6 is a sectional view showing a processing section including a drive section, a rotating body, and a collar, and a collar with a plurality of diagonally extending grooves formed on the inner surface, in which the processing section rotates in a first rotation direction R1. FIG. FIG. 7 is a diagram showing how the individual rotating bodies constituting the rotating body expand outward as the processing section rotates in the first rotational direction R1. FIG. 8 is a cross-sectional view showing a processing section including a drive section, a rotating body, and a collar, and a collar in which a plurality of diagonally extending grooves are formed on the inner surface, and the processing section is rotated in a second rotation direction R2. It is a figure showing a rotated place. FIG. 9 is a diagram illustrating the state in which the individual rotating bodies constituting the rotating body return inward from the state of expanding outwards as the processing section rotates in the second rotational direction R2.

The drive unit 12 according to this embodiment is an outer rotor type motor, and the driving force transmission surface 12a is the outer surface of the rotor. The rotating body 14 is a hollow member arranged so as to cover the rotor outer surface 12a. A collar 16 is disposed between the rotor outer surface 12a and the inner surface 14a of the rotating body 14 as a torque transmitting member, and the inner surface 16b contacts the rotor outer surface 12a and the outer surface 16a contacts the inner surface 14a of the rotating body 14.

An example of the outer diameter of the rotor outer surface 12a is 20 mm to 80 mm. An example of the total length of the rotor outer surface 12a is 100 mm to 2000 mm. The rotor outer surface 12a has a taper with a larger outer diameter on the center side (inner side) and a smaller outer diameter on the outer side in the direction of the rotation axis. An example of the slope of the taper is a slope where the outer diameter changes by 0.1 mm to 1.5 mm when moving 100 mm in the direction of the rotation axis. Any numerical range is an example, and is not limited to this.
The inner surface 16b of the collar 16 and the outer surface 12a of the rotor are restrained by frictional force. The outer surface 16a of the collar 16 and the inner surface 14a of the rotating body 14 may be restrained by frictional force, or may be fixed to each other by adhesive or the like.

When the rotating body 14 is rotated in a normal state by the drive unit 12, the outer surface 12a of the rotor and the inner surface 16b of the collar 16 are restrained by static frictional force. On the other hand, when the rotation of the rotating body 14 is restrained for some reason, a force greater than the static friction force is applied between the rotor outer surface 12a and the inner surface 16b of the collar 16, causing the rotor outer surface 12a and the inner surface 16b of the collar 16 to become relatively It will move to If the rotor outer surface 12a does not have a taper, if the force between the rotor outer surface 12a and the inner surface 16b of the collar 16 becomes larger than the static friction force, the rotor outer surface 12a and the inner surface 16b of the collar 16 will slide against each other. Rotate (while rubbing). Therefore, there is a possibility that the outer surface 12A of the rotor and the inner surface 16b of the collar 16 may be damaged due to the force applied by dynamic friction and the frictional heat.

On the other hand, in this embodiment, since the rotor outer surface 12a has a taper, the force between the rotor outer surface 12a and the inner surface 16b of the collar 16 becomes larger than the static friction force, and the rotor outer surface 12a and the inner surface 16b of the collar 16 are relative to each other. When the collar 16 moves outwardly along the taper, the outer diameter becomes smaller. As a result, the driving force transmitted from the rotor outer surface 12a to the inner surface 16b of the collar 16 is reduced, or no driving force is transmitted. Therefore, it is possible to reliably reduce the driving force transmitted from the rotor outer surface 12a to the inner surface 14a of the rotating body 14, thereby preventing damage to the members.

As described above, in the surface processing device 2 according to the present embodiment, the drive unit 12 is an outer rotor type motor, and the rotating body 14 is a hollow member arranged so as to cover the outer surface of the rotor of the outer rotor type motor. A collar 16 is disposed between the rotor outer surface 12a and the inner surface 14a of the rotor 14, and the inner surface 16b contacts the rotor outer surface 12a, and the outer surface 16a contacts the inner surface 14a of the rotor 14. When the rotation of the rotating body 14 is restricted due to interference with the surface portion G or an object extending from the surface portion G, the collar 16 moves outward in the rotation axis direction along the taper, and the driving force transmitted from the rotor outer surface 12a to the inner surface 14a of the rotating body 14 is reduced.

In this embodiment, when the rotation of the rotating body 14 is restrained due to interference with the surface portion G or an object extending from the surface portion G, the collar 16 moves along the taper of the rotor outer surface 12a, so that the collar 16 is reliably moved from the rotor outer surface 12a. The driving force transmitted to the inner surface 14a of the rotating body 14 can be reduced, thereby preventing damage to the member.
Note that when the collar 16 and the rotating body 14 are restrained by friction, the collar 16 may move (slide) relative to the rotating body 14 inward in the rotational axis direction, and the rotating body 14 may be elastically deformed. When the collar 16 and the rotating body 14 are restrained by adhesive or the like, the rotating body 14 becomes elastically deformed.

Furthermore, in this embodiment, a plurality of diagonally extending grooves 16G are formed on the inner surface 16b of the collar 16. Further, the rotating body 14 is composed of a plurality of (six in the figure) individual rotating bodies 14'. The individual rotating bodies 14' are arranged side by side in the direction of the rotation axis, and as shown in FIG. 7, adjacent individual rotating bodies 14' fit into each other in a concave-convex shape. As a result, the individual rotating bodies 14' are mutually restrained in the rotational direction, but are movable relative to each other in the rotational axis direction. A collar 16 is arranged inside each individual rotating body 14'.

The groove 16G provided on the inner surface 16b of the collar 16 is configured such that when rotating in the rotation direction R1, the outer end in the rotation axis direction is located on the front side in the traveling direction than the inner end in the rotation axis direction. It is formed at an angle.

When the groove 16G is provided on the inner surface 16b of the collar 16, the collar 16 can easily move along the direction in which the groove 16G extends. Furthermore, since the rotor outer surface 12a has a tapered shape in the direction of the rotation axis, the collar 16 can easily move outward in the direction of the rotation axis where the outer diameter of the rotor outer surface 12a is small, along the extending direction of the groove 16G. There is. Note that when the rotating body 14 is rotating in a normal state, the contact inner surface between the grooves 16G and the grooves 16G on the inner surface 16b of the collar 16 and the rotor outer surface 12a are restrained from each other by static frictional force. ing.

Next, consider the force that the contacting inner surface of the inner surface 16b of the collar 16 receives from the rotor outer surface 12a when the rotating body 14 driven by the drive unit 12 rotates in the rotation direction R1. As shown in FIG. 6, the contact inner surface of the inner surface 16b receives a force FR1 from the rotor outer surface 12a in a direction perpendicular to the rotation axis. Considering the force component in the direction along the extending direction of the groove 16G and the force component in the direction perpendicular to the force component, the force FR1 is composed of a force component FR1x in the direction along the groove 16G and a force component FR1y perpendicular to the force component FR1x in the direction along the groove 16G. It consists of

That is, the collar 16 receives a force component TR1x directed toward the outside of the rotation axis along the extending direction of the groove 16G. If the angle between the extending direction of the groove 16G and the rotating shaft direction is α, then
Force component TR1x = TR1 × sin α
becomes.

As described above, when the force between the rotor outer surface 12a and the inner surface 16b of the collar 16 becomes larger than the static friction force, the force component TR1x due to the taper of the rotor outer surface 12a, the groove 16G on the inner surface 16b of the collar 16, and the inclination of the groove 16G This makes it easier for the collar 16 to move outward in the direction of the rotation axis.

Therefore, when the rotary bodies 14 are rotated in the rotation direction R1 by the drive unit 12 and the rotation is restrained, the individual rotary bodies 14' are in contact with each other as shown in FIG. From the initial state (see the upper figure), the individual rotary bodies 14' together with the collar 16 move outward in the rotational axis direction and become separated from each other (see the lower figure). The same applies whether the collar 16 and the individual rotating body 14' are restrained by friction or by adhesive or the like.

As described above, in the surface treatment device 2 according to the present embodiment, a plurality of obliquely extending grooves 16G are formed on the inner surface 16b of the collar 16, and when the drive section 12 rotates in the first rotation direction R1, , when the outwardly directed FR1x along the extending direction of the groove 16G is applied to the collar 16 from the rotor outer surface 12a, and the force transmitted from the rotor outer surface 12a to the inner surface 16b of the collar 16 exceeds a predetermined value, the collar 16 It moves outward in the rotational axis direction along the extending direction of the groove 16G.

The groove 16G provided on the inner surface 16b of the collar 16 allows the collar 16 to move outward in the direction of the rotational axis more smoothly along the taper, so that the drive is more reliably transmitted from the rotor outer surface 12A to the inner surface 16b of the collar 16. The force can be reduced to prevent damage to the component.

After the individual rotary bodies 14', together with the collar 16, moved outward in the direction of the rotational axis and became separated from each other, the user stopped the drive unit 12 to restrain the rotation of the rotary bodies 14. After the event is resolved, the individual rotary body 14' can be returned to its initial state by manually moving it inward in the direction of the rotation axis. Furthermore, in this embodiment, by using the groove 16G provided on the inner surface 16b of the collar 16 to reverse the driving part 12 and rotate it in the rotation direction R2, the collar 16 moves outward in the rotation axis direction. It is also possible to return the individual rotating bodies 14' separated from each other to the initial state in which they are in contact with each other.

When the drive unit 12 is rotated in the rotation direction R2, as shown in FIG. 8, the inner surface 16b of the collar 16 receives a force FR2 from the rotor outer surface 12A in a direction perpendicular to the rotation axis. Note that the direction of force FR2 is 180 degrees opposite to the direction of force FR1. Considering the force component of this force FR2 in the direction along the groove 16G and the force component in the direction perpendicular to it, the force FR2 is composed of a force component FR2x in the direction along the groove 16G and a force component FRy perpendicular to it. ing.

That is, the collar 16 receives a force component TR2x in the direction inward of the rotation axis along the extending direction of the groove 16G. If the angle between the extending direction of the groove 16 and the rotating shaft direction is α, then
Force component TR2x = TR2 × sinα
becomes.

Since the collar 16 is located in a region where the outer diameter of the rotor outer surface 12a is reduced, when the rotor outer surface 12a rotates in the second rotation direction, the collar 16 rotates in the second rotation direction while sliding. As a result, the collar 16 receives a force directed inward toward the rotation axis along the groove 16G. Since the slope of the taper is very small, this causes the collar 16 to move inward in the rotational axis direction, where the outer diameter increases, along the extending direction of the groove 16G. As a result, as shown in FIG. 9, the individual rotating bodies 14' that are separated from each other (see the figure above) move inward in the rotational axis direction together with the collar 16, returning to the initial state in which they were in contact with each other. (See diagram below).

As described above, in the surface treatment device 2 according to the present embodiment, after the collar 16 moves outward along the taper 16G, the drive unit 12 moves in the second rotation direction R2 opposite to the first rotation direction R1. When the rotor rotates, a force directed inward along the extending direction of the groove 16G is applied from the rotor outer surface 12a to the collar 16, and the collar 16 moves inward in the rotation axis direction along the extending direction of the groove 16G. The driving force transmitted from the rotor outer surface 12a to the inner surface 14a of the rotating body 14 increases.

After the collar 16 moves outward along the taper and eliminates the phenomenon that restrains the rotation of the rotating body 14, the user can easily rotate the drive unit 12 in the second rotation direction. It is possible to return to the initial state in which driving force can be transmitted from the rotor outer surface 12a to the inner surface 14a of the rotating body 14.
(Surface processing device and surface processing unit according to other embodiments of the present invention)
Next, a surface processing device and a surface processing unit according to another embodiment of the present invention will be explained with reference to FIG. FIG. 10 is a side view schematically showing processing of a substantially vertical surface by a surface processing unit including a surface processing unit and a flying vehicle according to another embodiment of the present invention.

In this embodiment, the surface G to be processed by the surface processing device 2 is a substantially vertical surface like a wall of a building. Note that the surface portion G may be not only a flat surface but also a curved surface or an irregularly changing surface. When the surface G is a substantially horizontal surface or a certain degree of slope, the rotating body 14 comes into contact with the surface G due to gravity. In this embodiment, a counterweight 30 is provided to press the rotating body 14 against the substantially vertical surface G.

The upper part of the frame 20, which is attached to the flying vehicle 50 by the flying vehicle connecting portion 26, is suspended approximately vertically. A member in which an arm J1 and an arm J2 are integrally connected in a V-shape is arranged at the lower part of the frame 20. A processing unit 10 is attached to the tip of arm J1, and a counterweight 30 is attached to the tip of arm J2. The connection area of the arm J1 and the arm J2 is rotatably attached to the upper part of the frame 20 at a position indicated by Q.

Due to the rotational moment M generated by the counterweight 30, the processing section 10 is pressed against the substantially vertical surface section G with a force indicated by an arrow P. In this manner, while rotating the rotating body 14 of the processing section 10 in the first rotation direction R1 that moves the rotating body 14 downward with respect to the surface G, the surface processing device 2 is moved upward by the flying moving body 50. , similarly to the case shown in FIG. 1, the surface portion G can be efficiently processed.

It should be noted that the use of the counterweight 30 is just an example, and it is also possible to press the rotating body 14 of the processing section 10 against the substantially vertical surface G using an actuator, a damper, etc., for example.

(General)
The first aspect of the present invention is
a processing unit including a rotating body that contacts the surface portion or an object extending from the surface portion, and a driving portion that drives the rotating body;
a frame to which the processing unit is attached to one end and connected to a flying vehicle;
Equipped with
When the rotating body is rotated by the drive unit in a first rotation direction while being in contact with the surface portion or the object, a force is applied to the processing portion that moves the surface portion in the first direction, and the rotating body is connected to the frame. A force component in a second direction opposite to the first direction is applied to the processing unit via the frame by the flying moving object in flight,
a force component in the second direction is greater than a force proceeding in the first direction;
The surface processing device processes the surface portion or the object by moving the rotating body in the second direction with respect to the surface portion while rotating in the first rotation direction while being in contact with the surface portion or the object. .

A second aspect of the present invention includes, in the second aspect,
the frame has a telescoping mechanism;
In the surface portion processing device, when the flying moving object moves in a direction approaching the processing portion while the processing portion is being pulled by the flying moving object via the frame, the frame is contracted.

A third aspect of the present invention is, in the first or second aspect,
The drive section is an outer rotor type motor,
The rotating body is a hollow member disposed to cover the outer surface of the rotor of the outer rotor type motor,
A collar is disposed between the outer surface of the rotor and the inner surface of the rotating body, the inner surface of which contacts the outer surface of the rotor, and the outer surface of which contacts the inner surface of the rotating body;
The outer surface of the rotor has a taper with a larger outer diameter on the center side and a smaller outer diameter on the outer side in the direction of the rotation axis,
When the rotation of the rotating body is restrained due to interference with the surface portion or the object, the collar moves outward in the direction of the rotational axis along the taper and transmits information from the outer surface of the rotor to the inner surface of the rotating body. This is a surface treatment device that reduces driving force.

A fourth aspect of the present invention is, in the third aspect,
A plurality of diagonally extending grooves are formed on the inner surface of the collar,
When the drive unit rotates in the first rotation direction, a force directed outward along the extending direction of the groove is applied from the outer surface of the rotor to the collar;
In the surface processing device, when the force transmitted from the outer surface of the rotor to the inner surface of the collar exceeds a predetermined value, the collar moves outward in the rotation axis direction along the extending direction of the groove.

A fifth aspect of the present invention includes, in the fourth aspect,
an extension of the groove from the outer surface of the rotor into the collar when the drive rotates in a second rotational direction opposite the first rotational direction after the collar has moved outwardly along the taper; An inward force along the direction is applied,
In the surface treatment device, the collar moves inward in the direction of the rotational axis along the extending direction of the groove, thereby increasing the driving force transmitted from the outer surface of the rotor to the inner surface of the rotating body.

In a sixth aspect of the present invention, in any aspect of the first body 5,
The surface treatment device is one in which the rotating body is a rotating brush.

A seventh aspect of the present invention includes, in the sixth aspect,
In the surface treatment device, wheels that roll on the surface and are not connected to the drive section are attached to both sides of the rotating brush in the direction of the rotation axis.

An eighth aspect of the present invention is, in the seventh aspect,
In the surface treatment device, the outer diameter of the wheel is smaller than the outer diameter of the rotating brush.

In a ninth aspect of the present invention, in any aspect of the first body 5,
The surface processing device is such that the rotating body is a rotary blade.

A tenth aspect of the present invention is, in the ninth aspect,
The surface processing device includes a cover wheel that covers a part of the rotary blade, rolls on the surface, and is not connected to the drive section.

The eleventh aspect of the present invention is
A surface treatment device according to any one of the first to tenth aspects,
A surface processing unit including a flying moving object.

Although the embodiments and modes of implementation of the present invention have been described, the disclosed contents may vary in the details of the configuration, and changes in the combination and order of elements in the embodiments and modes of implementation may differ from the claimed invention. This can be realized without departing from the scope and philosophy of

2 Surface processing device 10 Processing section 12 Drive section 12a Rotor outer surface 14 Rotating body 14' Individual rotating body 14a Inner surface 14B Rotating brush 14B1 Brush section 14C Rotating blade 16 Collar 16a Outer surface 16b Inner surface 16G Groove 18 Wheel 18C Cover wheel 18C1 Opening 20 Frame 22 Frame main body 22A First member 22A1 Contact surface 22B Second member 22B1 Contact surface 24 Drive section support section 26 Flight object connection section 30 Counterweight 50 Flight vehicle 52 Main body 54 Rotary wing unit 56 Legs 58 Mounting section 100 Surface treatment Unit G surface

Claims (10)

a processing unit including a rotating body that contacts the surface portion or an object extending from the surface portion, and a driving portion that drives the rotating body;
a frame to which the processing unit is attached to one end and connected to a flying vehicle;
Equipped with
When the rotating body is rotated by the drive unit in a first rotation direction while being in contact with the surface portion or the object, a force is applied to the processing portion that moves the surface portion in the first direction, and the rotating body is connected to the frame. A force component in a second direction opposite to the first direction is applied to the processing unit via the frame by the flying moving object in flight,
a force component in the second direction is greater than a force proceeding in the first direction;
The rotating body rotates in the first rotation direction while in contact with the surface portion or the object, and advances in the second direction with respect to the surface portion to process the surface portion or the object ,
The drive section is an outer rotor type motor,
The rotating body is a hollow member disposed to cover the outer surface of the rotor of the outer rotor type motor,
A collar is disposed between the outer surface of the rotor and the inner surface of the rotating body, the inner surface of which contacts the outer surface of the rotor, and the outer surface of which contacts the inner surface of the rotating body;
The outer surface of the rotor has a taper with a larger outer diameter on the center side and a smaller outer diameter on the outer side in the direction of the rotation axis,
When the rotation of the rotating body is restrained due to interference with the surface portion or the object, the collar moves outward in the direction of the rotational axis along the taper and transmits information from the outer surface of the rotor to the inner surface of the rotating body. A surface treatment device characterized by a reduction in driving force . A plurality of diagonally extending grooves are formed on the inner surface of the collar,
When the drive unit rotates in the first rotation direction, a force directed outward along the extending direction of the groove is applied from the outer surface of the rotor to the collar;
2. The rotor according to claim 1 , wherein when the force transmitted from the outer surface of the rotor to the inner surface of the collar exceeds a predetermined value, the collar moves outward in the rotation axis direction along the extending direction of the groove. The surface treatment device described above. an extension of the groove from the outer surface of the rotor into the collar when the drive rotates in a second rotational direction opposite the first rotational direction after the collar has moved outwardly along the taper; An inward force along the direction is applied,
According to claim 2 , the collar moves inward in the direction of the rotational axis along the extending direction of the groove, and the driving force transmitted from the outer surface of the rotor to the inner surface of the rotating body increases. The surface treatment device described above. the frame has a telescoping mechanism;
2. The frame of claim 1, wherein when the flying moving object moves in a direction approaching the processing section while the processing section is being pulled by the flying moving object via the frame, the frame contracts. The surface treatment device described above. The surface treatment device according to claim 1, wherein the rotating body is a rotating brush. 6. The surface treatment device according to claim 5 , wherein wheels that roll on the surface and are not connected to the drive section are attached to both sides of the rotating brush in the direction of the rotation axis. 7. The surface treatment device according to claim 6 , wherein the outer diameter of the wheel is smaller than the outer diameter of the rotating brush. The surface treatment device according to claim 1, wherein the rotating body is a rotary blade. The surface processing device according to claim 8 , further comprising a cover wheel that covers a part of the rotary blade and rolls on the surface, and is not connected to the drive section. A surface treatment device according to any one of claims 1 to 9 ,
A surface processing unit comprising a flying moving object.

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